Aircraft transparency polisher and/or surface refinisher

ABSTRACT

A machine for polishing aircraft windows including a window positioner device securable to the side of an aircraft, a frame for holding a polishing system attachable to the window positioner device, a robot seat frame system attachable to the frame, and a robot secured to the robot seat including a robot arm with capability to pick up, use and discard abrasive pads useful for polishing aircraft windows.

CROSS REFERENCE TO RELATED APPLICATION

This application is a divisional application based on application Ser.No. 11/305,880, filed on Dec. 16, 2005, which will issue as U.S. Pat.No. 7,316,604 on Jan. 8, 2008.

BACKGROUND

This invention relates to transparency refinishers, in particular adevice which automatically polishes and/or resurfaces aircrafttransparencies and/or windows either while those transparencies areinstalled in the aircraft or after the transparencies have been removedfrom the aircraft. Aircraft transparencies become scratched and pittedover a period of time as they undergo normal utilization. When aircraftfly at high speeds, small particles or dust that are present in the airimpact the transparencies resulting in scratching and pitting.Additionally, transparencies suffer from crazing and the breakdown ofprotective coatings on the transparencies making them appear opaque.Conventional procedures are to remove these scratched, pitted and/oropaque transparencies from the aircraft and replace them with newtransparencies containing a new seal. This is a labor intensive,time-consuming and expensive process. Further, while the transparency isremoved from the aircraft for replacement, the aircraft cannot be used.

Attempts have been made to automate the aircraft transparency polishingprocess, as disclosed for example in U.S. Pat. Nos. 4,969,914, 5,964,645and 6,645,048.

One object of this invention is to produce an aircrafttransparency/window polisher and resurfacer that fully automates thepolishing and resurfacing of aircraft transparencies while in theaircraft or after they have been removed from the aircraft. This objectand other objects are disclosed by the inventions disclosed herein.

SUMMARY OF THE INVENTION

The present invention includes a machine for polishing aircrafttransparencies and windows, whether those windows are in place in theaircraft or after they have been removed from the aircraft. In oneembodiment the device of the invention, when utilized to polish aircrafttransparencies and/or windows in place in aircraft, includes a windowpositioner device, which may be secured to a side of an aircraft; aframe, which is attachable to the window positioner device and to theside of the aircraft; a robot seat frame system attachable to the frame;and a robot secured to the robot seat, preferably a six-axis robot, butit may have fewer axes, which includes a robot arm with a motor andcapability to pick up, use and discard abrasive pads useful forpolishing and/or resurfacing aircraft transparencies and/or windows.

In an alternative embodiment the robot seat frame system is directlyattachable to the side of the aircraft, thereby eliminating the need forthe frame.

In a further embodiment the invention is utilized to polish aircrafttransparencies and/or windows after their removal from the aircraft andincludes a bench or console; window positioner component(s) securableto, or an element of, the bench or console; a robot seat frame systemsecurable to, or an integral part of the bench or console; and a robot,securable to the robot seat frame system, which includes a robot armwith motor and capability to pick up, use and discard abrasive padsuseful for polishing aircraft transparencies and/or windows.

The many advantages of these embodiments and others are clear from thedescription and claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a side view of a first embodiment of the machine forpolishing aircraft windows mounted on the side of an aircraft.

FIG. 1B is a front view of the machine, as shown in FIG. 1A.

FIG. 2 is a side view of a cabinet on wheels used to support andtransport components of the machine of FIG. 1A.

FIG. 3A is a front view of a window positioner device of the machineshown in FIG. 1A.

FIG. 3B is a side view of the window positioner device of FIG. 3Asecured to the side of an aircraft.

FIG. 4A is a side view of a frame for holding a polishing system of themachine shown in FIG. 1A, secured to the side of an aircraft.

FIG. 4B is a front view of the frame for holding the polishing system ofFIG. 4A.

FIG. 5A is a side view of a robot seat frame system of the machine ofFIG. 1A, which is attachable to the frame of FIG. 4A.

FIG. 5B is a front view of the robot seat frame system as shown in FIG.5A.

FIG. 5C is a perspective view of one embodiment of an extension framemember with robot mounting platform of the robot seat frame system ofFIG. 5A.

FIG. 6A is a side view of the machine of FIG. 1A with added splashguards and drain pan.

FIG. 6B is a front view of machine as shown in FIG. 6A.

FIG. 7 is a front view of the side of an aircraft showing a series offrames secured to the side of an aircraft over its windows on which therobot seat frame system with robot of FIG. 1A can move.

FIG. 8 is a front view of the side of an aircraft showing a rail systemused to support the robot seat frame system of FIG. 1A as it moves fromwindow to window on an aircraft.

FIG. 9A is a side view of a second embodiment of the robot seat framesystem of FIG. 5A, wherein this system is directly secured to the sideof the aircraft.

FIG. 9B is a front view of the second embodiment of the robot seat framesystem of FIG. 9A.

FIG. 10A is a front, perspective view of a third embodiment of themachine for polishing aircraft transparencies and/or windows which havebeen removed from an aircraft.

FIG. 10B is a front view of the machine of FIG. 10A.

FIG. 10C is a side view of the machine as shown in FIG. 10A.

FIG. 10D is a top view of the machine as shown in FIG. 10A.

DESCRIPTION OF A PREFERRED EMBODIMENT

The invention is designed for polishing aircraft transparencies and/orwindows either on an aircraft or after the aircraft transparenciesand/or windows have been removed from the aircraft. For purposes of thisdescription, the invention is designed to polish and/or resurface anywindow or transparency of any aircraft. For purposes of this descriptionthe term “window” is all encompassing for any type of window,transparency, canopy or similar product that is an element of anaircraft. For purposes of this description “polishing” of a window of anaircraft refers to any treatment of the window including polishing,abrading, removal of protective coating, resurfacing, etc.

In one embodiment of the invention as shown in FIGS. 1A and 1B, themachine (10) is used for polishing aircraft windows (20) which aresecured to an aircraft (30). The machine (10) includes a windowpositioner device (40) (see FIGS. 3A and 3B) securable to the aircraft,a frame (60), attachable to the window positioner device (40) and to theside of the aircraft, a robot seat frame system (70), attachable to theframe (60), and a robot (90) secured to the robot seat frame system(70), wherein the robot is preferably a six-axis robot and includes arobot arm (92) with a motor and capability to pick up, use and discardabrasive pads for the polishing and/or resurfacing of aircraft windows.

Utilized with the machine (10) is preferably a remote operating system(12), which is wheeled around on the tarmac and which provides electriclines, pressurized air lines and water lines (not shown) to the robot(90) to permit its operation for polishing aircraft windows. Any devicewhich assists in the operation of the machine (10) is within the scopeof the invention. In one embodiment, as shown in FIG. 2, the remoteoperating system (12) comprises a cabinet (14) on wheels, which isutilized to assist in operation of the machine (10). This cabinet (14)may include a number of drawers (15) along with electric lines,pressurized air lines, and water lines (not shown) utilized in theoperation of the robot (90). Further, the cabinet (14) may support acontrol unit (16), which is also utilized in the operation of the robot(90). In addition, the cabinet (14) may support the robot (90) itselfprior to placement on the robot seat frame system (70). The cabinet (14)is preferably on wheels to assist in its movement to the proper locationfor utilization with the robot (90).

The window positioner device (40) of this embodiment, as shown in FIGS.3A and 3B, can be any device which is helpful in the proper alignment ofthe frame (60) onto the aircraft. For example, the window positionerdevice may be a laser device (not shown), a camera (not shown) or amechanical device, such as is shown in FIGS. 3A and 3B, which assists inthe correct placement and positioning of the robot (90) on the side ofthe aircraft (30). This device may be separate from the robot (90) or itmay be attached to any component of the machine (10), including therobot (90). For example, the window positioner device can be a laserdevice or a camera that is attached to the robot (not shown). The windowpositioner device preferably includes components which permit it to beutilized with a number of different types and sizes of windows fordifferent types and styles of aircraft.

In one embodiment the window positioner device (40), as shown in FIG.3A, includes an upper and lower frame (42, 44) and a clear insert (46)secured between the two frames. The device is securable to the side ofan aircraft by any conventional securing system, such as vacuum suctioncups (48). The clear insert (46), that is secured between the twoframes, is preferably a clear, plexiglass section in which the outlineof the window (47) to be polished is etched or cut out in the specificshape of the window to be polished to assist in the proper alignment ofthe window positioner device (40) around the window (20). In utilizationthis window positioner device (40) is secured against the side of theaircraft (30), as shown in FIG. 3B. The etched or cut out window outline(47) is placed directly over the window (20) of the aircraft (30) thatis to be polished. By placement of the window outline (47) in positiondirectly over the window to be polished, all other components of themachine are properly aligned on the side of the aircraft.

In one embodiment, this window positioner device (40) also includes aframe alignment tab (49), which extends upward from the upper frame (42)of the window positioning device, as shown in FIG. 3A. This framealignment tab (49) cooperatively interacts with the frame (60) forholding the polishing system, such that once the window positionerdevice (40) is secured in a proper position on the side of the aircraft,such that it is properly positioned over the window to be polished, theframe (60) for holding the polishing system is automatically locatedover that frame alignment tab (49) in a correct position for theattachment of the frame (60) to the side of the aircraft. Once the frame(60) for holding the polishing system is attached at the proper locationon the side of the aircraft, the window positioner device (40) can beremoved and is ready for use with the next window to be polished.

The frame (60) for holding the polishing system includes componentswhich support the robot seat frame system (70). In one embodiment, asshown in FIGS. 4A and 4B, this frame includes two parallel top to bottomframe members (62, 63) and two parallel left to right frame members (64,65). These frame members may be manufactured from any sturdy but lightmaterial which is sufficiently strong to support the robot (90) and theother components of the machine (10). These frame members are connectedtogether to form a rectangular shaped frame, as shown in FIG. 4B. Theframe (60) for holding the polishing system is attachable to the side ofthe aircraft by any conventional attachment system. For example, aseries of suction cups (66) may be secured to the back of the frame.These suction cups can be used to secure the frame (60) to the side ofthe aircraft. The frame (60) is properly positioned around the window tobe polished by its interaction with the window positioner device (40).In one embodiment the upward extending, frame alignment tab (49) of thewindow positioner device (40) fits into a slot (not shown) that has beencut into, or formed as a component of, the top frame member (64) of theframe. When the tab (49) of the window positioner device is placed inthis slot at the top frame member, the frame is automatically located inthe proper position on the side of the aircraft in relation to thewindow to be polished. In one embodiment, as shown in FIG. 7, a seriesof frames (60) can be secured to the side of the aircraft over thewindows to be polished.

Secured to this frame (60) is the robot seat frame system (70). Thisrobot seat frame system (70), as shown in one embodiment in FIGS. 5A and5B, holds the robot (90), the polishing pads placed in a polishing padreceptacle (71), a polishing pad removal device (81), a bin for usedpads (82) and other components useful for the polishing of the aircraftwindows.

In one embodiment the robot seat frame system (70) includes two parallelright to left frame system supports (72, 73) and two parallel top tobottom frame system supports (74, 75), as shown in FIG. 5B, which areconnected together to form a rectangular frame system. Attached to thetop to bottom frame system supports (74, 75) are a pair of extensionframe members (76), extending outward from the rectangular frame systemto support a support frame (79). Connected to the top to bottom framesystem supports (74, 75) and the extension frame members (76) is thesupport frame (79) which supports a robot mounting platform (78), whichcan be any conventional size and shape that supports and holds the robot(90). Preferably, this mounting platform (78) is secured to the supportframe (79) and holds the robot (90) securely in place. This component isdiscussed in more detail. Also secured to the robot seat frame system(70) may be other components, such as the polish pad removal device(81), which is also discussed in more detail.

The robot seat frame system (70) is secured to the frame (60) forholding the polishing system by any conventional means. In oneembodiment a top, downwardly extending tab (77), which is secured to thelower edge of an extension (72 a) of the upper, left to right framesystem support (72), is placed within a slot (64 a) cut into the topframe member (64). By placement of this slot (64 a) at the top of theframe (60) at a particular location within the frame for holding thepolishing system, and aligning it with the downwardly extending tab (77)of the robot seat frame system (70), the robot seat frame system (70) isplaced in precise alignment directly at the proper position forpolishing the aircraft window (20).

In an alternative embodiment as shown in FIGS. 9A and 9B an alternativerobot seat frame system (70A) is secured directly to the aircraft (30).

Secured to the robot mounting platform (78) is any robot (90) useful forpolishing the windows of the aircraft. In one preferred embodiment asshown in FIGS. 1A and 1B the robot (90) is a six-axis robot, such as ismanufactured by Mitsubishi and Stauby. Alternatively, the robot can havefewer axes as is well known in the art. This robot (90) is programmedand secured to the robot mounting platform (78).

It is important that the robot (90) be secured in the correct positiondirectly in front of the window (20) and also be placed a properdistance away from the window. Any system which assures the properplacement of the robot in front of the window, a correct distance awayfrom the window, is within the scope of the invention. In one embodimentthe robot (90) is secured to the robot mounting platform (78), which isshown in FIG. 5C. The robot mounting platform (78) is preferably securedto the front support (80) of the support frame (79). In one embodimentthe robot mounting platform (78) can be moved side-to-side within slots(80 a) cut into the front support (80) of the support frame (79), asshown in FIG. 5C. This arrangement of slots (80 a) permits aside-to-side movement of the robot (90) on the robot mounting platform(78) in front of the window. Once in proper position the robot mountingplatform (78) can be secured in proper position by the use of lockingbolts (78 a). In addition, in another preferred embodiment, the frontsupport (80) of the support frame (79) fits within slots (79 a) cut intothe inside portion of the support frame (79), as shown in FIG. 5C. Therelative position of the robot mounting platform (78) in relation to thewindow (20) of the aircraft can be adjusted by movement of the frontsupport (80) of the support frame (79) in and out, closer and furtheraway from the aircraft window. Once the proper position for the robot(90) has been determined, the front support (80) of the support frame(79) can be secured in position in the slots (79 a) in the support frame(79) by any conventional means, such as by the use of locking bolts (78a).

In a preferred embodiment a polishing pad receptacle (71) is alsosecured to the robot seat frame system (70), as shown in FIG. 5A. Therobot (90) is programmed to remove abrasive pads from the polishing padreceptacle (71) and secure them to the end of its arm (92). As thesix-axis robot applies the abrasive pads to the window (20) to bepolished, lubrication is sprayed onto the window through a hose (notshown), preferably secured to the arm (92) of the robot (90). The hoseis properly positioned so that the lubrication is sprayed only at theappropriate location on the window. Splash guards (83) are preferablyprovided on the side and top of the robot seat frame system (70) toprevent the lubricant from being sprayed onto the side of the planeitself, as shown in FIGS. 6A and 6B. Preferably, there is also securedto the frame (60), the robot seat frame (70), or the aircraft (30)itself a drain pan (84) with down spout (86), as shown in FIGS. 6A and6B, which captures any liquid that falls from the window (20) beingpolished.

The polishing pads in the polishing pad receptacle (71) are preferably aseries of pads with different degrees of abrasion capability. Forexample, in one preferred embodiment a series of pads (from 4 to 8pads), each succeeding pad with a finer abrasion capability than theprevious pad are placed within the receptacle. The robot (90) picks upthe pads in sequence one after the other from the receptacle. The padsare secured to the end of the arm (92) of the robot (90) by any wellknown securing systems, such as hook and loop fasteners. Once theabrasives on the pad being used have been exhausted, the pad is removedfrom the end of the arm (92) of the robot and the robot is programmed topick up the next abrasive pad. The abrasives that are on the pads may beany conventional abrasives and may include well known abrasives,including but not limited to, silica particles and industrial diamonds.In one embodiment, as shown on FIGS. 5A and 5B the receptacle (71) is acup which is secured within a support on the robot seat frame system(70). In addition to the abrasive pads that are placed within thereceptacle (71), the top of the receptacle may be sealed with aconventional plastic seal prior to utilization. In use this seal isremoved and the receptacle (71) is placed in its receptacle holder onthe robot seat frame system (70). The abrasive pad which is secured tothe end of the arm (92) of the six-axis robot (90) abrades the surfaceof the window (20) as its moves along the surface of the window. The endof the arm (92) contains an orbital or rotary pneumatic or electricmotor which rotates the abrasive pad and exerts sufficient pressureagainst the window for the abrasive pad to remove the damage from thesurface of the window. The arm (92) of the robot (90) retains theabrasive pad in position while it is abrading the surface of the window.The movements of the robot arm (92) are controlled by its programmingand the selection of routines by the operator of the machine. After apredetermined period of time, the arm of the six-axis robot (90)disposes of the pad and picks up a new pad. The systems for retainingthe pad on the arm of the robot and for replacing it with a new abrasivepad are well-known in the art and are controlled by the programming ofthe computer and the selections of routines by the operator. In oneembodiment the pads are removed by operation of the polish pad removalgripper device (81 a), which device mechanically grabs the pad while onthe robot arm and removes the used pad. These devices are sometimesreferred to as a Zaytran robotic gripper magnum line.

Although the system described above describes the abrading of a singlewindow, the robot (90) on the robot seat frame system (70) can be moveddown the side of an aircraft by utilization of a series of frames (60),which are secured together end-to-end, as shown in FIG. 7.Alternatively, a rail system (96) can be secured to the side of theaircraft as shown in FIG. 8 to permit movement of the robot seat framesystem (70) down the side of the aircraft. This rail system (96) canconsist of a series of top supports on which the top of the robot seatframe system (70) is supported. With this embodiment it is not necessaryto utilize the frame (60).

Once the windows on one side of the aircraft have been polished, therobot seat frame system (70) is removed from the frame (60) and then theframe is removed from the side of the aircraft. The machine (10) canthen be installed on the opposite side of the aircraft (30) to polishthe windows (20) located thereon.

In an alternative embodiment, as shown in FIGS. 10A, 10B, 10C and 10D, apolishing system (100) can be utilized, wherein the aircraft windows(120) are removed from the aircraft and secured onto a bench or console(110). Proper location of the aircraft window on the bench or console isprovided by a window positioner device (140), which is securable to or acomponent of the bench or console. For example in one embodiment, thewindow positioner device (140) is a series of fixed or adjustableclamping blocks (142) on a drawer or support (144), as shown in FIGS.10A and 10C. The drawer or support (144) may slide away from the top ofthe bench or support to assist in loading of the windows onto the bench.The aircraft window (120) is placed in a proper location on the draweror support (144) and is then secured in that location by means of theclamping blocks (142). The particular location on the drawer or supportis predetermined and is important so that the robot (190) polishes theaircraft window in a predetermined manner. The drawer or support (144)is placed in a fixed location on the bench or console. Also secured tothe bench or console is a robot seat frame system (170) to which issecured the robot (190) with an arm for polishing the aircraft windows.Once again a six-axis robot can be utilized to move its arm and polishthe window. Robots with 2, 3, 4 or 5 axis may also be used. In a furtheralternative embodiment, the robot (190) may be a Cartesian robot whichmoves in an X, Y and Z plane to polish the window as shown in FIG. 10A.The movement of the robot is controlled by programming from a controlpanel (180), which may be secured to the bench or console (110). Oncethe individual window (120) has been polished, it can be removed fromthe bench or console (110) and the next window can then be secured inposition.

The devices discussed herein disclose some of the inventions. Changesmay be made to the devices without departing from the scope of theinvention. The devices disclosed are only illustrative of some of theinventions disclosed herein.

1. A machine for polishing aircraft windows that have been removed froman aircraft comprising a bench for holding and securing the aircraftwindow in position; a frame for holding a polishing system at a locationadjacent to the work bench; and a robot secured to the frame including arobot arm with motor and capability to pick up, use and discard abrasivepads useful for polishing aircraft windows.
 2. The machine of claim 1wherein the robot comprising a Cartesian robot.
 3. The machine of claim1 wherein the robot comprises a six-axis robot.
 4. The machine of claim1 wherein the bench further comprises a window positioner device forproperly positioning aircraft windows on the bench.
 5. The machine ofclaim 4 wherein the window positioner device comprises a series of fixedand/or adjustable clamping blocks securable to a drawer or support. 6.The machine of claim 5 wherein the drawer or support is capable ofsliding away from the bench for loading aircraft windows.
 7. The machineof claim 1 further comprises a control panel secured to the bench forcontrolling the movement of the robot.
 8. A process for polishingaircraft windows comprising removing an aircraft window from anaircraft, accurately positioning and securing the aircraft window on abench or console by use of a window positioner device, and polishing theaircraft window by use of a robot polishing device, which is alsosecured to the bench or console.
 9. The process of claim 8 furthercomprising utilizing a series of fixed or adjustable blocks to securethe aircraft window on the bench or console.
 10. The process of claim 8wherein the bench or console further comprises a drawer or support whichis slidably connected to the bench or console and which holds theaircraft window to be polished.
 11. The process of claim 8 wherein therobot comprises a six-axis robot or a Cartesian robot.
 12. The processof claim 11 wherein the robot further comprises a movable arm withcapacity to pick up, use and discard abrasive pads.